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<div class="header">
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
<a href="classpcl_1_1search_1_1_octree-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::search::Octree&lt; PointT, LeafTWrap, BranchTWrap, OctreeT &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1search_1_1_octree.html" title="search::Octree is a wrapper class which implements nearest neighbor search operations based on the pc...">search::Octree</a></b> is a wrapper class which implements nearest neighbor search operations based on the pcl::octree::Octree structure.  
 <a href="classpcl_1_1search_1_1_octree.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="search_2include_2pcl_2search_2octree_8h_source.html">octree.h</a>&gt;</code></p>
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类 pcl::search::Octree&lt; PointT, LeafTWrap, BranchTWrap, OctreeT &gt; 继承关系图:</div>
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 <div class="center">
  <img src="classpcl_1_1search_1_1_octree.png" usemap="#pcl::search::Octree_3C_20PointT_2C_20LeafTWrap_2C_20BranchTWrap_2C_20OctreeT_20_3E_map" alt=""/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a91071c06959660536a632154879bfb2b"><td class="memItemLeft" align="right" valign="top"><a id="a91071c06959660536a632154879bfb2b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a91071c06959660536a632154879bfb2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>IndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>IndicesConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>OctreePointCloudSearchPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>OctreePointCloudSearchConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1search_1_1_search"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1search_1_1_search')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a24c22de8c0cfcedbbab42e3c25aa41f7 inherit pub_types_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top"><a id="a24c22de8c0cfcedbbab42e3c25aa41f7"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>IndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>IndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a987892ca3624313b206b1f6dc5c9d0df"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#a987892ca3624313b206b1f6dc5c9d0df">Octree</a> (const double resolution)</td></tr>
<tr class="memdesc:a987892ca3624313b206b1f6dc5c9d0df"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_octree.html" title="search::Octree is a wrapper class which implements nearest neighbor search operations based on the pc...">Octree</a> constructor.  <a href="classpcl_1_1search_1_1_octree.html#a987892ca3624313b206b1f6dc5c9d0df">更多...</a><br /></td></tr>
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<tr class="memitem:a7ee64c6ec2beb64972b80d2d4914859a"><td class="memItemLeft" align="right" valign="top"><a id="a7ee64c6ec2beb64972b80d2d4914859a"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#a7ee64c6ec2beb64972b80d2d4914859a">~Octree</a> ()</td></tr>
<tr class="memdesc:a7ee64c6ec2beb64972b80d2d4914859a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty Destructor. <br /></td></tr>
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<tr class="memitem:a19e4db5d478f4aa22501849202d832ac"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#a19e4db5d478f4aa22501849202d832ac">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a19e4db5d478f4aa22501849202d832ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset.  <a href="classpcl_1_1search_1_1_octree.html#a19e4db5d478f4aa22501849202d832ac">更多...</a><br /></td></tr>
<tr class="separator:a19e4db5d478f4aa22501849202d832ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a27496a56ce98da017a30fa402d48ff17"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#a27496a56ce98da017a30fa402d48ff17">setInputCloud</a> (const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a27496a56ce98da017a30fa402d48ff17"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset.  <a href="classpcl_1_1search_1_1_octree.html#a27496a56ce98da017a30fa402d48ff17">更多...</a><br /></td></tr>
<tr class="separator:a27496a56ce98da017a30fa402d48ff17"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abfd07d575460088601dae07058f15fb2"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#abfd07d575460088601dae07058f15fb2">nearestKSearch</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, int index, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</td></tr>
<tr class="memdesc:abfd07d575460088601dae07058f15fb2"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for the k-nearest neighbors for the given query point.  <a href="classpcl_1_1search_1_1_octree.html#abfd07d575460088601dae07058f15fb2">更多...</a><br /></td></tr>
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<tr class="memitem:a1ae29c694452a6cddc236eaef372653e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#a1ae29c694452a6cddc236eaef372653e">nearestKSearch</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</td></tr>
<tr class="memdesc:a1ae29c694452a6cddc236eaef372653e"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for the k-nearest neighbors for the given query point.  <a href="classpcl_1_1search_1_1_octree.html#a1ae29c694452a6cddc236eaef372653e">更多...</a><br /></td></tr>
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<tr class="memitem:a17572ddb4cdfcadfcd03570d10ac064b"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#a17572ddb4cdfcadfcd03570d10ac064b">nearestKSearch</a> (int index, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</td></tr>
<tr class="memdesc:a17572ddb4cdfcadfcd03570d10ac064b"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for the k-nearest neighbors for the given query point (zero-copy).  <a href="classpcl_1_1search_1_1_octree.html#a17572ddb4cdfcadfcd03570d10ac064b">更多...</a><br /></td></tr>
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<tr class="memitem:aca7e9f635a0873e19f6f919e9f4a9d36"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#aca7e9f635a0873e19f6f919e9f4a9d36">radiusSearch</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, int index, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</td></tr>
<tr class="memdesc:aca7e9f635a0873e19f6f919e9f4a9d36"><td class="mdescLeft">&#160;</td><td class="mdescRight">search for all neighbors of query point that are within a given radius.  <a href="classpcl_1_1search_1_1_octree.html#aca7e9f635a0873e19f6f919e9f4a9d36">更多...</a><br /></td></tr>
<tr class="separator:aca7e9f635a0873e19f6f919e9f4a9d36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab340ec949e72d0bd6d972d0bdb230ed6"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#ab340ec949e72d0bd6d972d0bdb230ed6">radiusSearch</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</td></tr>
<tr class="memdesc:ab340ec949e72d0bd6d972d0bdb230ed6"><td class="mdescLeft">&#160;</td><td class="mdescRight">search for all neighbors of query point that are within a given radius.  <a href="classpcl_1_1search_1_1_octree.html#ab340ec949e72d0bd6d972d0bdb230ed6">更多...</a><br /></td></tr>
<tr class="separator:ab340ec949e72d0bd6d972d0bdb230ed6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a464b3db2b1de5dff0dce4bfa9a792190"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#a464b3db2b1de5dff0dce4bfa9a792190">radiusSearch</a> (int index, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</td></tr>
<tr class="memdesc:a464b3db2b1de5dff0dce4bfa9a792190"><td class="mdescLeft">&#160;</td><td class="mdescRight">search for all neighbors of query point that are within a given radius.  <a href="classpcl_1_1search_1_1_octree.html#a464b3db2b1de5dff0dce4bfa9a792190">更多...</a><br /></td></tr>
<tr class="separator:a464b3db2b1de5dff0dce4bfa9a792190"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aed3738c14f9b2f230f19af3e03d6a6c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#aed3738c14f9b2f230f19af3e03d6a6c2">approxNearestSearch</a> (const PointCloudConstPtr &amp;cloud, int query_index, int &amp;result_index, float &amp;sqr_distance)</td></tr>
<tr class="memdesc:aed3738c14f9b2f230f19af3e03d6a6c2"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for approximate nearest neighbor at the query point.  <a href="classpcl_1_1search_1_1_octree.html#aed3738c14f9b2f230f19af3e03d6a6c2">更多...</a><br /></td></tr>
<tr class="separator:aed3738c14f9b2f230f19af3e03d6a6c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15bf08e5e2ee5c815ce6fa1e76c6c14b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#a15bf08e5e2ee5c815ce6fa1e76c6c14b">approxNearestSearch</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q, int &amp;result_index, float &amp;sqr_distance)</td></tr>
<tr class="memdesc:a15bf08e5e2ee5c815ce6fa1e76c6c14b"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for approximate nearest neighbor at the query point.  <a href="classpcl_1_1search_1_1_octree.html#a15bf08e5e2ee5c815ce6fa1e76c6c14b">更多...</a><br /></td></tr>
<tr class="separator:a15bf08e5e2ee5c815ce6fa1e76c6c14b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d18f15c506234a1a54127a21631c913"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_octree.html#a2d18f15c506234a1a54127a21631c913">approxNearestSearch</a> (int query_index, int &amp;result_index, float &amp;sqr_distance)</td></tr>
<tr class="memdesc:a2d18f15c506234a1a54127a21631c913"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for approximate nearest neighbor at the query point.  <a href="classpcl_1_1search_1_1_octree.html#a2d18f15c506234a1a54127a21631c913">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1search_1_1_search"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1search_1_1_search')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a77f437ecf7fa36987632db9c2b450441 inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#a77f437ecf7fa36987632db9c2b450441">Search</a> (const std::string &amp;name=&quot;&quot;, bool sorted=false)</td></tr>
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<tr class="memitem:a25fbcca7b8f88fdf464f8c9af576626c inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#a25fbcca7b8f88fdf464f8c9af576626c">~Search</a> ()</td></tr>
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<tr class="memitem:a58f09ccdd4f9296a3462f902f78ee544 inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top"><a id="a58f09ccdd4f9296a3462f902f78ee544"></a>
virtual const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#a58f09ccdd4f9296a3462f902f78ee544">getName</a> () const</td></tr>
<tr class="memdesc:a58f09ccdd4f9296a3462f902f78ee544 inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the search method name <br /></td></tr>
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<tr class="memitem:af5e9ca2efdb199e64d05c399ea4a4412 inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#af5e9ca2efdb199e64d05c399ea4a4412">setSortedResults</a> (bool sorted)</td></tr>
<tr class="memdesc:af5e9ca2efdb199e64d05c399ea4a4412 inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets whether the results should be sorted (ascending in the distance) or not  <a href="classpcl_1_1search_1_1_search.html#af5e9ca2efdb199e64d05c399ea4a4412">更多...</a><br /></td></tr>
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<tr class="memitem:a0ab66bf51224fca916cc193e953d39d8 inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top"><a id="a0ab66bf51224fca916cc193e953d39d8"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#a0ab66bf51224fca916cc193e953d39d8">getSortedResults</a> ()</td></tr>
<tr class="memdesc:a0ab66bf51224fca916cc193e953d39d8 inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets whether the results should be sorted (ascending in the distance) or not Otherwise the results may be returned in any order. <br /></td></tr>
<tr class="separator:a0ab66bf51224fca916cc193e953d39d8 inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f7aa9ba73d098c204bc8a6b9dd293dc inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#a3f7aa9ba73d098c204bc8a6b9dd293dc">setInputCloud</a> (const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</td></tr>
<tr class="memdesc:a3f7aa9ba73d098c204bc8a6b9dd293dc inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pass the input dataset that the search will be performed on.  <a href="classpcl_1_1search_1_1_search.html#a3f7aa9ba73d098c204bc8a6b9dd293dc">更多...</a><br /></td></tr>
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<tr class="memitem:ac4a83e895b2a11e89319673117a927fa inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top"><a id="ac4a83e895b2a11e89319673117a927fa"></a>
virtual PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#ac4a83e895b2a11e89319673117a927fa">getInputCloud</a> () const</td></tr>
<tr class="memdesc:ac4a83e895b2a11e89319673117a927fa inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:a0ba8e4114e97c267970b79fe6cf3697e inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top"><a id="a0ba8e4114e97c267970b79fe6cf3697e"></a>
virtual IndicesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#a0ba8e4114e97c267970b79fe6cf3697e">getIndices</a> () const</td></tr>
<tr class="memdesc:a0ba8e4114e97c267970b79fe6cf3697e inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a0ba8e4114e97c267970b79fe6cf3697e inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe2901bec8399fdd4d62a4275d89528b inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memTemplParams" colspan="2">template&lt;typename PointTDiff &gt; </td></tr>
<tr class="memitem:abe2901bec8399fdd4d62a4275d89528b inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memTemplItemLeft" align="right" valign="top">int&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#abe2901bec8399fdd4d62a4275d89528b">nearestKSearchT</a> (const PointTDiff &amp;point, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</td></tr>
<tr class="memdesc:abe2901bec8399fdd4d62a4275d89528b inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for k-nearest neighbors for the given query point. This method accepts a different template parameter for the point type.  <a href="classpcl_1_1search_1_1_search.html#abe2901bec8399fdd4d62a4275d89528b">更多...</a><br /></td></tr>
<tr class="separator:abe2901bec8399fdd4d62a4275d89528b inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7191bd8166bed4623c27199bf59e972c inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#a7191bd8166bed4623c27199bf59e972c">nearestKSearch</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, const std::vector&lt; int &gt; &amp;indices, int k, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;k_indices, std::vector&lt; std::vector&lt; float &gt; &gt; &amp;k_sqr_distances) const</td></tr>
<tr class="memdesc:a7191bd8166bed4623c27199bf59e972c inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for the k-nearest neighbors for the given query point.  <a href="classpcl_1_1search_1_1_search.html#a7191bd8166bed4623c27199bf59e972c">更多...</a><br /></td></tr>
<tr class="separator:a7191bd8166bed4623c27199bf59e972c inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5388aab8b46f3180b8ebe9001f1e75eb inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memTemplParams" colspan="2">template&lt;typename PointTDiff &gt; </td></tr>
<tr class="memitem:a5388aab8b46f3180b8ebe9001f1e75eb inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#a5388aab8b46f3180b8ebe9001f1e75eb">nearestKSearchT</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTDiff &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;indices, int k, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;k_indices, std::vector&lt; std::vector&lt; float &gt; &gt; &amp;k_sqr_distances) const</td></tr>
<tr class="memdesc:a5388aab8b46f3180b8ebe9001f1e75eb inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for the k-nearest neighbors for the given query point. Use this method if the query points are of a different type than the points in the data set (e.g. <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html" title="A point structure representing Euclidean xyz coordinates, and the RGBA color.">PointXYZRGBA</a> instead of <a class="el" href="structpcl_1_1_point_x_y_z.html" title="A point structure representing Euclidean xyz coordinates. (SSE friendly)">PointXYZ</a>).  <a href="classpcl_1_1search_1_1_search.html#a5388aab8b46f3180b8ebe9001f1e75eb">更多...</a><br /></td></tr>
<tr class="separator:a5388aab8b46f3180b8ebe9001f1e75eb inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a817886100e51afd9d20f323eb095ca2e inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memTemplParams" colspan="2">template&lt;typename PointTDiff &gt; </td></tr>
<tr class="memitem:a817886100e51afd9d20f323eb095ca2e inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memTemplItemLeft" align="right" valign="top">int&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#a817886100e51afd9d20f323eb095ca2e">radiusSearchT</a> (const PointTDiff &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</td></tr>
<tr class="memdesc:a817886100e51afd9d20f323eb095ca2e inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for all the nearest neighbors of the query point in a given radius.  <a href="classpcl_1_1search_1_1_search.html#a817886100e51afd9d20f323eb095ca2e">更多...</a><br /></td></tr>
<tr class="separator:a817886100e51afd9d20f323eb095ca2e inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a71d9c395bc2de70831e9bca8ff6b27c9 inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#a71d9c395bc2de70831e9bca8ff6b27c9">radiusSearch</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, const std::vector&lt; int &gt; &amp;indices, double radius, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;k_indices, std::vector&lt; std::vector&lt; float &gt; &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</td></tr>
<tr class="memdesc:a71d9c395bc2de70831e9bca8ff6b27c9 inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for all the nearest neighbors of the query point in a given radius.  <a href="classpcl_1_1search_1_1_search.html#a71d9c395bc2de70831e9bca8ff6b27c9">更多...</a><br /></td></tr>
<tr class="separator:a71d9c395bc2de70831e9bca8ff6b27c9 inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a474c6a0dd4e8fbf9c7f0840c22fb931d inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memTemplParams" colspan="2">template&lt;typename PointTDiff &gt; </td></tr>
<tr class="memitem:a474c6a0dd4e8fbf9c7f0840c22fb931d inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1search_1_1_search.html#a474c6a0dd4e8fbf9c7f0840c22fb931d">radiusSearchT</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTDiff &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;indices, double radius, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;k_indices, std::vector&lt; std::vector&lt; float &gt; &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</td></tr>
<tr class="memdesc:a474c6a0dd4e8fbf9c7f0840c22fb931d inherit pub_methods_classpcl_1_1search_1_1_search"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for all the nearest neighbors of the query points in a given radius.  <a href="classpcl_1_1search_1_1_search.html#a474c6a0dd4e8fbf9c7f0840c22fb931d">更多...</a><br /></td></tr>
<tr class="separator:a474c6a0dd4e8fbf9c7f0840c22fb931d inherit pub_methods_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public 属性</h2></td></tr>
<tr class="memitem:a391fa7dcdbc3eb781f0ade42dc19f4e4"><td class="memItemLeft" align="right" valign="top"><a id="a391fa7dcdbc3eb781f0ade42dc19f4e4"></a>
OctreePointCloudSearchPtr&#160;</td><td class="memItemRight" valign="bottom"><b>tree_</b></td></tr>
<tr class="separator:a391fa7dcdbc3eb781f0ade42dc19f4e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1search_1_1_search"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1search_1_1_search')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointT &gt;</a></td></tr>
<tr class="memitem:aa15b2e10688acc27e6a87d02192a17b1 inherit pro_methods_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top"><a id="aa15b2e10688acc27e6a87d02192a17b1"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>sortResults</b> (std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</td></tr>
<tr class="separator:aa15b2e10688acc27e6a87d02192a17b1 inherit pro_methods_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1search_1_1_search"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1search_1_1_search')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a3044a0a70f8f083400a41b9e34cfa4fc inherit pro_attribs_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top"><a id="a3044a0a70f8f083400a41b9e34cfa4fc"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>input_</b></td></tr>
<tr class="separator:a3044a0a70f8f083400a41b9e34cfa4fc inherit pro_attribs_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6db6521a19458ec8e5ada937bf16dcc1 inherit pro_attribs_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top"><a id="a6db6521a19458ec8e5ada937bf16dcc1"></a>
IndicesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>indices_</b></td></tr>
<tr class="separator:a6db6521a19458ec8e5ada937bf16dcc1 inherit pro_attribs_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4c8d2f983d9aeebfb592eb256d1f4d2 inherit pro_attribs_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top"><a id="ab4c8d2f983d9aeebfb592eb256d1f4d2"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>sorted_results_</b></td></tr>
<tr class="separator:ab4c8d2f983d9aeebfb592eb256d1f4d2 inherit pro_attribs_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adde2b11155d871a0a835254ca1820591 inherit pro_attribs_classpcl_1_1search_1_1_search"><td class="memItemLeft" align="right" valign="top"><a id="adde2b11155d871a0a835254ca1820591"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><b>name_</b></td></tr>
<tr class="separator:adde2b11155d871a0a835254ca1820591 inherit pro_attribs_classpcl_1_1search_1_1_search"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt;<br />
class pcl::search::Octree&lt; PointT, LeafTWrap, BranchTWrap, OctreeT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1search_1_1_octree.html" title="search::Octree is a wrapper class which implements nearest neighbor search operations based on the pc...">search::Octree</a></b> is a wrapper class which implements nearest neighbor search operations based on the pcl::octree::Octree structure. </p>
<p>The octree pointcloud class needs to be initialized with its voxel resolution. Its bounding box is automatically adjusted according to the pointcloud dimension or it can be predefined. Note: The tree depth equates to the resolution and the bounding box dimensions of the octree.</p>
<dl class="section note"><dt>注解</dt><dd>typename: PointT: type of point used in pointcloud </dd>
<dd>
typename: LeafT: leaf node class (usuallt templated with integer indices values) </dd>
<dd>
typename: OctreeT: octree implementation ()</dd></dl>
<dl class="section author"><dt>作者</dt><dd>Julius Kammerl </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a987892ca3624313b206b1f6dc5c9d0df"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a987892ca3624313b206b1f6dc5c9d0df">&#9670;&nbsp;</a></span>Octree()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
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  <td class="mlabels-left">
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          <td class="memname"><a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::<a class="el" href="classpcl_1_1search_1_1_octree.html">Octree</a> </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>resolution</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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</div><div class="memdoc">

<p><a class="el" href="classpcl_1_1search_1_1_octree.html" title="search::Octree is a wrapper class which implements nearest neighbor search operations based on the pc...">Octree</a> constructor. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">resolution</td><td>octree resolution at lowest octree level </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          : Search&lt;PointT&gt; (<span class="stringliteral">&quot;Octree&quot;</span>)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          , tree_ (<span class="keyword">new</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafTWrap, BranchTWrap&gt;</a> (resolution))</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch</a></div><div class="ttdoc">Octree pointcloud search class</div><div class="ttdef"><b>Definition:</b> octree_search.h:58</div></div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="aed3738c14f9b2f230f19af3e03d6a6c2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aed3738c14f9b2f230f19af3e03d6a6c2">&#9670;&nbsp;</a></span>approxNearestSearch() <span class="overload">[1/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::approxNearestSearch </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>query_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>result_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>sqr_distance</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for approximate nearest neighbor at the query point. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the point cloud data </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">query_index</td><td>the index in <em>cloud</em> representing the query point </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">result_index</td><td>the resultant index of the neighbor point </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">sqr_distance</td><td>the resultant squared distance to the neighboring point </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found </dd></dl>
<div class="fragment"><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        {</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;approxNearestSearch (cloud-&gt;points[query_index], result_index, sqr_distance));</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        }</div>
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</div>
</div>
<a id="a15bf08e5e2ee5c815ce6fa1e76c6c14b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a15bf08e5e2ee5c815ce6fa1e76c6c14b">&#9670;&nbsp;</a></span>approxNearestSearch() <span class="overload">[2/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::approxNearestSearch </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>p_q</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>result_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>sqr_distance</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for approximate nearest neighbor at the query point. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">p_q</td><td>the given query point </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">result_index</td><td>the resultant index of the neighbor point </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">sqr_distance</td><td>the resultant squared distance to the neighboring point </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;approxNearestSearch (p_q, result_index, sqr_distance));</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        }</div>
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<a id="a2d18f15c506234a1a54127a21631c913"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2d18f15c506234a1a54127a21631c913">&#9670;&nbsp;</a></span>approxNearestSearch() <span class="overload">[3/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::approxNearestSearch </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>query_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>result_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>sqr_distance</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for approximate nearest neighbor at the query point. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">query_index</td><td>index representing the query point in the dataset given by <em>setInputCloud</em>. If indices were given in setInputCloud, index will be the position in the indices vector. </td></tr>
    <tr><td class="paramname">result_index</td><td>the resultant index of the neighbor point </td></tr>
    <tr><td class="paramname">sqr_distance</td><td>the resultant squared distance to the neighboring point </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found </dd></dl>
<div class="fragment"><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;approxNearestSearch (query_index, result_index, sqr_distance));</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#abfd07d575460088601dae07058f15fb2">&#9670;&nbsp;</a></span>nearestKSearch() <span class="overload">[1/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">int <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::nearestKSearch </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>k</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_sqr_distances</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for the k-nearest neighbors for the given query point. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the point cloud data </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">index</td><td>the index in <em>cloud</em> representing the query point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">k</td><td>the number of neighbors to search for </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_indices</td><td>the resultant indices of the neighboring points (must be resized to <em>k</em> a priori!) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_sqr_distances</td><td>the resultant squared distances to the neighboring points (must be resized to <em>k</em> a priori!) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1search_1_1_search.html#a5d7eedb3e5746257f121cdc675d6a21a">pcl::search::Search&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;nearestKSearch (cloud, index, k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a1ae29c694452a6cddc236eaef372653e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1ae29c694452a6cddc236eaef372653e">&#9670;&nbsp;</a></span>nearestKSearch() <span class="overload">[2/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::nearestKSearch </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>k</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_sqr_distances</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for the k-nearest neighbors for the given query point. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point</td><td>the given query point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">k</td><td>the number of neighbors to search for </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_indices</td><td>the resultant indices of the neighboring points (must be resized to <em>k</em> a priori!) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_sqr_distances</td><td>the resultant squared distances to the neighboring points (must be resized to <em>k</em> a priori!) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found </dd></dl>

<p>实现了 <a class="el" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">pcl::search::Search&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        {</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;nearestKSearch (point, k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        }</div>
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</div>
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<a id="a17572ddb4cdfcadfcd03570d10ac064b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a17572ddb4cdfcadfcd03570d10ac064b">&#9670;&nbsp;</a></span>nearestKSearch() <span class="overload">[3/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::nearestKSearch </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>k</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_sqr_distances</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p><a class="el" href="classpcl_1_1search_1_1_search.html" title="Generic search class. All search wrappers must inherit from this.">Search</a> for the k-nearest neighbors for the given query point (zero-copy). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">index</td><td>the index representing the query point in the dataset given by <em>setInputCloud</em> if indices were given in setInputCloud, index will be the position in the indices vector </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">k</td><td>the number of neighbors to search for </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_indices</td><td>the resultant indices of the neighboring points (must be resized to <em>k</em> a priori!) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_sqr_distances</td><td>the resultant squared distances to the neighboring points (must be resized to <em>k</em> a priori!) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1search_1_1_search.html#ab79c10fe1e25b8c4a7104dd439e5f6e0">pcl::search::Search&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;nearestKSearch (index, k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        }</div>
</div><!-- fragment -->
</div>
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<a id="aca7e9f635a0873e19f6f919e9f4a9d36"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aca7e9f635a0873e19f6f919e9f4a9d36">&#9670;&nbsp;</a></span>radiusSearch() <span class="overload">[1/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::radiusSearch </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>radius</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_sqr_distances</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>max_nn</em> = <code>0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>search for all neighbors of query point that are within a given radius. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">cloud</td><td>the point cloud data </td></tr>
    <tr><td class="paramname">index</td><td>the index in <em>cloud</em> representing the query point </td></tr>
    <tr><td class="paramname">radius</td><td>the radius of the sphere bounding all of p_q's neighbors </td></tr>
    <tr><td class="paramname">k_indices</td><td>the resultant indices of the neighboring points </td></tr>
    <tr><td class="paramname">k_sqr_distances</td><td>the resultant squared distances to the neighboring points </td></tr>
    <tr><td class="paramname">max_nn</td><td>if given, bounds the maximum returned neighbors to this value </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found in radius </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1search_1_1_search.html#ac4d5771324782f22122f9733efeb3e63">pcl::search::Search&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          tree_-&gt;radiusSearch (cloud, index, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          <span class="keywordflow">if</span> (sorted_results_)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            this-&gt;sortResults (k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        }</div>
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</div>
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<a id="ab340ec949e72d0bd6d972d0bdb230ed6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab340ec949e72d0bd6d972d0bdb230ed6">&#9670;&nbsp;</a></span>radiusSearch() <span class="overload">[2/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::radiusSearch </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>p_q</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>radius</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_sqr_distances</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>max_nn</em> = <code>0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>search for all neighbors of query point that are within a given radius. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">p_q</td><td>the given query point </td></tr>
    <tr><td class="paramname">radius</td><td>the radius of the sphere bounding all of p_q's neighbors </td></tr>
    <tr><td class="paramname">k_indices</td><td>the resultant indices of the neighboring points </td></tr>
    <tr><td class="paramname">k_sqr_distances</td><td>the resultant squared distances to the neighboring points </td></tr>
    <tr><td class="paramname">max_nn</td><td>if given, bounds the maximum returned neighbors to this value </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found in radius </dd></dl>

<p>实现了 <a class="el" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">pcl::search::Search&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          tree_-&gt;radiusSearch (p_q, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          <span class="keywordflow">if</span> (sorted_results_)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;            this-&gt;sortResults (k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a464b3db2b1de5dff0dce4bfa9a792190"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a464b3db2b1de5dff0dce4bfa9a792190">&#9670;&nbsp;</a></span>radiusSearch() <span class="overload">[3/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::radiusSearch </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>radius</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_sqr_distances</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>max_nn</em> = <code>0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>search for all neighbors of query point that are within a given radius. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">index</td><td>index representing the query point in the dataset given by <em>setInputCloud</em>. If indices were given in setInputCloud, index will be the position in the indices vector </td></tr>
    <tr><td class="paramname">radius</td><td>radius of the sphere bounding all of p_q's neighbors </td></tr>
    <tr><td class="paramname">k_indices</td><td>the resultant indices of the neighboring points </td></tr>
    <tr><td class="paramname">k_sqr_distances</td><td>the resultant squared distances to the neighboring points </td></tr>
    <tr><td class="paramname">max_nn</td><td>if given, bounds the maximum returned neighbors to this value </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found in radius </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1search_1_1_search.html#a6806b0255d2921adb04275439cf4cfd6">pcl::search::Search&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;          tree_-&gt;radiusSearch (index, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          <span class="keywordflow">if</span> (sorted_results_)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            this-&gt;sortResults (k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a19e4db5d478f4aa22501849202d832ac">&#9670;&nbsp;</a></span>setInputCloud() <span class="overload">[1/2]</span></h2>

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template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
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<p>Provide a pointer to the input dataset. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the const boost shared pointer to a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message </td></tr>
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<div class="fragment"><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          tree_-&gt;deleteTree ();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          tree_-&gt;setInputCloud (cloud);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          tree_-&gt;addPointsFromInputCloud ();</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          input_ = cloud;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a27496a56ce98da017a30fa402d48ff17">&#9670;&nbsp;</a></span>setInputCloud() <span class="overload">[2/2]</span></h2>

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template&lt;typename PointT , typename LeafTWrap  = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap  = pcl::octree::OctreeContainerEmpty, typename OctreeT  = pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap, OctreeT &gt;::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const IndicesConstPtr &amp;&#160;</td>
          <td class="paramname"><em>indices</em>&#160;</td>
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          <td>)</td>
          <td></td><td></td>
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<p>Provide a pointer to the input dataset. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the const boost shared pointer to a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>the point indices subset that is to be used from <em>cloud</em> </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          tree_-&gt;deleteTree ();</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          tree_-&gt;setInputCloud (cloud, indices);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          tree_-&gt;addPointsFromInputCloud ();</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          input_ = cloud;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          indices_ = indices;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>search/include/pcl/search/<a class="el" href="search_2include_2pcl_2search_2octree_8h_source.html">octree.h</a></li>
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